Fine manipulation with multifinger hands

J. Hong; G. Lafferriere; B. Mishra; X. Tan

Fine manipulation with multifinger hands

J. Hong, G. Lafferriere, B. Mishra, X. Tan

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.

Original language	English (US)
Title of host publication	Proc 1990 IEEE Int Conf Rob Autom
Publisher	Publ by IEEE
Pages	1568-1573
Number of pages	6
ISBN (Print)	0818620617
State	Published - 1990
Event	Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: May 13 1990 → May 18 1990

Publication series

Name	Proc 1990 IEEE Int Conf Rob Autom

Other

Other	Proceedings of the 1990 IEEE International Conference on Robotics and Automation
City	Cincinnati, OH, USA
Period	5/13/90 → 5/18/90

ASJC Scopus subject areas

General Engineering

Cite this

@inproceedings{4ccf874a4f6c4acd939498c55999832f,

title = "Fine manipulation with multifinger hands",

abstract = "The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.",

author = "J. Hong and G. Lafferriere and B. Mishra and X. Tan",

year = "1990",

language = "English (US)",

isbn = "0818620617",

series = "Proc 1990 IEEE Int Conf Rob Autom",

publisher = "Publ by IEEE",

pages = "1568--1573",

booktitle = "Proc 1990 IEEE Int Conf Rob Autom",

note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",

}

TY - GEN

T1 - Fine manipulation with multifinger hands

AU - Hong, J.

AU - Lafferriere, G.

AU - Mishra, B.

AU - Tan, X.

PY - 1990

Y1 - 1990

N2 - The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.

AB - The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.

UR - http://www.scopus.com/inward/record.url?scp=0025588468&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0025588468&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0025588468

SN - 0818620617

T3 - Proc 1990 IEEE Int Conf Rob Autom

SP - 1568

EP - 1573

BT - Proc 1990 IEEE Int Conf Rob Autom

PB - Publ by IEEE

T2 - Proceedings of the 1990 IEEE International Conference on Robotics and Automation

Y2 - 13 May 1990 through 18 May 1990

ER -

Fine manipulation with multifinger hands

Abstract

Publication series

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ASJC Scopus subject areas

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